src/main/io/gps.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #define LAT 0
  21 #define LON 1
  22
  23 #define GPS_DEGREES_DIVIDER 10000000L
  24
  25 typedef enum {
  26     GPS_NMEA = 0,
  27     GPS_UBLOX
  28 } gpsProvider_e;
  29
  30 #define GPS_PROVIDER_MAX GPS_UBLOX
  31
  32 typedef enum {
  33     SBAS_AUTO = 0,
  34     SBAS_EGNOS,
  35     SBAS_WAAS,
  36     SBAS_MSAS,
  37     SBAS_GAGAN
  38 } sbasMode_e;
  39
  40 #define SBAS_MODE_MAX SBAS_GAGAN
  41
  42 typedef enum {
  43     GPS_BAUDRATE_115200 = 0,
  44     GPS_BAUDRATE_57600,
  45     GPS_BAUDRATE_38400,
  46     GPS_BAUDRATE_19200,
  47     GPS_BAUDRATE_9600
  48 } gpsBaudRate_e;
  49
  50 typedef enum {
  51     GPS_AUTOCONFIG_OFF = 0,
  52     GPS_AUTOCONFIG_ON,
  53 } gpsAutoConfig_e;
  54
  55 typedef enum {
  56     GPS_AUTOBAUD_OFF = 0,
  57     GPS_AUTOBAUD_ON
  58 } gpsAutoBaud_e;
  59
  60 #define GPS_BAUDRATE_MAX GPS_BAUDRATE_9600
  61
  62 typedef struct gpsConfig_s {
  63     gpsProvider_e provider;
  64     sbasMode_e sbasMode;
  65     gpsAutoConfig_e autoConfig;
  66     gpsAutoBaud_e autoBaud;
  67 } gpsConfig_t;
  68
  69 typedef enum {
  70     GPS_PASSTHROUGH_ENABLED = 1,
  71     GPS_PASSTHROUGH_NO_SERIAL_PORT
  72 } gpsEnablePassthroughResult_e;
  73
  74 typedef struct gpsCoordinateDDDMMmmmm_s {
  75     int16_t dddmm;
  76     int16_t mmmm;
  77 } gpsCoordinateDDDMMmmmm_t;
  78
  79
  80 typedef enum {
  81     GPS_MESSAGE_STATE_IDLE = 0,
  82     GPS_MESSAGE_STATE_INIT,
  83     GPS_MESSAGE_STATE_SBAS,
  84     GPS_MESSAGE_STATE_MAX = GPS_MESSAGE_STATE_SBAS
  85 } gpsMessageState_e;
  86
  87 #define GPS_MESSAGE_STATE_ENTRY_COUNT (GPS_MESSAGE_STATE_MAX + 1)
  88
  89 typedef struct gpsData_t {
  90     uint8_t state;                  // GPS thread state. Used for detecting cable disconnects and configuring attached devices
  91     uint8_t baudrateIndex;          // index into auto-detecting or current baudrate
  92     uint32_t errors;                // gps error counter - crc error/lost of data/sync etc..
  93     uint32_t timeouts;
  94     uint32_t lastMessage;           // last time valid GPS data was received (millis)
  95     uint32_t lastLastMessage;       // last-last valid GPS message. Used to calculate delta.
  96
  97     uint32_t state_position;        // incremental variable for loops
  98     uint32_t state_ts;              // timestamp for last state_position increment
  99     gpsMessageState_e messageState;
 100 } gpsData_t;
 101
 102 #define GPS_PACKET_LOG_ENTRY_COUNT 21 // To make this useful we should log as many packets as we can fit characters a single line of a OLED display.
 103 extern char gpsPacketLog[GPS_PACKET_LOG_ENTRY_COUNT];
 104
 105 extern gpsData_t gpsData;
 106 extern int32_t GPS_coord[2];               // LAT/LON
 107
 108 extern uint8_t GPS_numSat;
 109 extern uint16_t GPS_hdop;                  // GPS signal quality
 110 extern uint8_t GPS_update;                 // it's a binary toogle to distinct a GPS position update
 111 extern uint32_t GPS_packetCount;
 112 extern uint16_t GPS_altitude;              // altitude in 0.1m
 113 extern uint16_t GPS_speed;                 // speed in 0.1m/s
 114 extern uint16_t GPS_ground_course;         // degrees * 10
 115 extern uint8_t GPS_numCh;                  // Number of channels
 116 extern uint8_t GPS_svinfo_chn[16];         // Channel number
 117 extern uint8_t GPS_svinfo_svid[16];        // Satellite ID
 118 extern uint8_t GPS_svinfo_quality[16];     // Bitfield Qualtity
 119 extern uint8_t GPS_svinfo_cno[16];         // Carrier to Noise Ratio (Signal Strength)
 120
 121 #define GPS_DBHZ_MIN 0
 122 #define GPS_DBHZ_MAX 55
 123
 124
 125 void gpsThread(void);
 126 bool gpsNewFrame(uint8_t c);
 127 gpsEnablePassthroughResult_e gpsEnablePassthrough(void);
 128 void updateGpsIndicator(uint32_t currentTime);